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<div class="textblock"><code>#include &lt;errno.h&gt;</code><br />
<code>#include &lt;fcntl.h&gt;</code><br />
<code>#include &lt;stdio.h&gt;</code><br />
<code>#include &lt;stdlib.h&gt;</code><br />
<code>#include &lt;string.h&gt;</code><br />
<code>#include &lt;unistd.h&gt;</code><br />
<code>#include &lt;asm/termios.h&gt;</code><br />
<code>#include &lt;termios.h&gt;</code><br />
<code>#include &lt;math.h&gt;</code><br />
<code>#include &lt;pthread.h&gt;</code><br />
<code>#include &lt;stropts.h&gt;</code><br />
<code>#include &lt;endian.h&gt;</code><br />
<code>#include &lt;stdint.h&gt;</code><br />
<code>#include &lt;<a class="el" href="../../de/d23/rt__serial_8h_source.html">rt/rt_serial.h</a>&gt;</code><br />
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<p><a href="../../d3/d28/rt__serial_8cpp_source.html">Go to the source code of this file.</a></p>
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Macros</h2></td></tr>
<tr class="memitem:a9025ed3a83907c093716cf90bd6a7acd"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d28/rt__serial_8cpp.html#a9025ed3a83907c093716cf90bd6a7acd">termios</a>&#160;&#160;&#160;asmtermios</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:adc24908fd964d1eeb3b4dcd058a06e0d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d28/rt__serial_8cpp.html#adc24908fd964d1eeb3b4dcd058a06e0d">set_interface_attribs_custom_baud</a> (int fd, int speed, int parity, int port)</td></tr>
<tr class="memdesc:adc24908fd964d1eeb3b4dcd058a06e0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configure serial port.  <a href="#adc24908fd964d1eeb3b4dcd058a06e0d">More...</a><br /></td></tr>
<tr class="separator:adc24908fd964d1eeb3b4dcd058a06e0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
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          <td class="memname">#define termios&#160;&#160;&#160;asmtermios</td>
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<p>Definition at line <a class="el" href="../../d3/d28/rt__serial_8cpp_source.html#l00012">12</a> of file <a class="el" href="../../d3/d28/rt__serial_8cpp_source.html">rt_serial.cpp</a>.</p>

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          <td class="memname">int set_interface_attribs_custom_baud </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>fd</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>speed</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>parity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>port</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Configure serial port. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fd</td><td>Serial port FD </td></tr>
    <tr><td class="paramname">speed</td><td>Baud rate </td></tr>
    <tr><td class="paramname">parity</td><td>Parity </td></tr>
    <tr><td class="paramname">port</td><td>Port number </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../d3/d28/rt__serial_8cpp_source.html#l00040">40</a> of file <a class="el" href="../../d3/d28/rt__serial_8cpp_source.html">rt_serial.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                                                                               {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  (void)parity;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  (void)port;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  printf(<span class="stringliteral">&quot;\t[RT SERIAL] Configuring serial device...\n&quot;</span>);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">struct </span>termios2 tty;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  ioctl(fd, TCGETS2, &amp;tty);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  tty.c_cflag &amp;= ~CBAUD;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  tty.c_cflag |= BOTHER;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  tty.c_ispeed = speed;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  tty.c_ospeed = speed;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  tty.c_cflag = (tty.c_cflag &amp; ~CSIZE) | CS8;  <span class="comment">// 8-bit chars</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// disable IGNBRK for mismatched speed tests; otherwise receive break</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// as \000 chars</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  tty.c_iflag &amp;= ~IGNBRK;  <span class="comment">// disable break processing</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  tty.c_lflag = 0;         <span class="comment">// no signaling chars, no echo,</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// no canonical processing</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  tty.c_oflag = 0;      <span class="comment">// no remapping, no delays</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  tty.c_cc[VMIN] = 0;   <span class="comment">// read doesn&#39;t block</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  tty.c_cc[VTIME] = 1;  <span class="comment">// 0.5 seconds read timeout</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  tty.c_iflag &amp;= ~(IXON | IXOFF | IXANY);  <span class="comment">// shut off xon/xoff ctrl</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  tty.c_cflag |= (CLOCAL | CREAD);  <span class="comment">// ignore modem controls,</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// enable reading</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// tty.c_cflag &amp;= ~(PARENB | PARODD);      // shut off parity</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  tty.c_cflag |= PARENB;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  tty.c_cflag &amp;= ~CSTOPB;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  tty.c_cflag &amp;= ~CRTSCTS;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// cfmakeraw(&amp;tty);</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  ioctl(fd, TCSETS2, &amp;tty);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div></div><!-- fragment -->
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